The color of an object is determined using a Blinn-Phong shading model. There are four components that control the color: ambient, diffuse, specular, and emissive.

SDF Models can range from simple shapes to complex robots. It refers to the <model> SDF tag, and is essentially a collection of links, joints, collision objects, visuals, and plugins.

This tutorial explains the necessary steps to successfully use your URDF-based robot in Gazebo, saving you from having to create a separate SDF file from scratch and duplicating description …

We will not add textures to the Velodyne model in this tutorial. However, if you have texture files then you can add them to your model in a couple ways. Define a texture within a collada file, …

These are properties that you would find in the joint SDF. To edit a joint: Double-click on the line connecting the links or right click on it and select Open Joint Inspector.

More documentation on the <sensor> and <ray> elements can be found in the SDF Documentation. <topicName>/rrbot/laser/scan</topicName> …

Check the model.sdf file and ensure that the <plugin> tag is in the correct location in the file. Try running Gazebo in verbose mode (rosrun gazebo_ros gazebo --verbose) and see if there are …

The model.sdf can be generated from the template using the erb command: erb -T 1 model.sdf.erb > model.sdf. This allows geometric parameters to be defined in one place along …

This tutorial demonstrates building a custom world using SDF. It also provides a simple example on how to sense object interactions and manipulate object color using the simulation world API.

This tutorial demonstrates building a custom world using SDF. It also provides a simple example on how to sense object interactions and manipulate object color using the simulation world API.